A study on underwater track vehicle system

In this paper, analyses on the design of the underwater track vehicle (UTV) with ladder trencher for cutting underwater soils are conducted. For this, with the mechanics of the underwater ladder trencher are analyzed. Also, the forces of single cutting tools of ladder trencher in relation with force interaction to. Tractive thrust and normal reaction are analyzed and used to assess the traction, weight and balance factors for self-propelled machines. Design of the UTV based on the sensitivity analysis on the parameters of tractive thrust and normal reaction is studied and is analyzed. Besides, a design on the capacity of tractive force of the UTV was studied considering the tractive thrust and normal reaction of the ladder trencher. Based on these analyses, the optimal cutter forces are designed and the simulation of the tractive thrust and normal reaction of the ladder trencher are performed. Finally, the derived mechanics equations are numerically simulated and results are analyzed.